CN112453520A - Shake-prevention clamping flexible milling device and method for weak-rigidity composite material - Google Patents
Shake-prevention clamping flexible milling device and method for weak-rigidity composite material Download PDFInfo
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- CN112453520A CN112453520A CN202011217414.1A CN202011217414A CN112453520A CN 112453520 A CN112453520 A CN 112453520A CN 202011217414 A CN202011217414 A CN 202011217414A CN 112453520 A CN112453520 A CN 112453520A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/04—Work clamping means using fluid means or a vacuum
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Abstract
The invention provides a weak-rigidity composite material anti-vibration clamping flexible milling device and a milling method, belonging to the technical field of automatic milling, and comprising a base, a multi-freedom-degree milling edge spindle, an XY-direction moving unit, a vacuum chuck, an anti-vibration clamping unit, a vision camera, a vision alignment system, a laser profile sensor and a control system; the base comprises a bottom plate, a top plate, a back plate and a side plate, wherein the back plate and the side plate are connected with the bottom plate and the top plate; the multi-degree-of-freedom edge milling spindle penetrates through the first window; the XY-direction moving unit is arranged in the base and connected with the multi-degree-of-freedom edge milling spindle to drive the multi-degree-of-freedom edge milling spindle to move in the X direction and the Y direction in the base; the vacuum chuck is arranged on the bottom plate of the base and is positioned below the XY-direction moving unit; the anti-vibration clamping unit comprises a clamp, a clamp shaft, an angular contact ball bearing, a bearing seat, a damper, an air spring and a workpiece Y-direction moving unit. The invention can improve the surface processing quality of the workpiece and slow down the abrasion of the cutter.
Description
Technical Field
The invention belongs to the technical field of automatic milling, and particularly discloses a weak-rigidity composite material anti-vibration clamping flexible milling device and a milling method.
Background
The weak-rigidity composite material has the advantages of high compression strength and bending strength, high rigidity, ultra-light structural characteristics, buffering, heat insulation, sound insulation and other functions, is applied to the aerospace field at first, is popularized to the building industry, furniture manufacturing, packaging and transportation industry, has high economic value, can be recycled, and is beneficial to protecting and improving ecological environment.
The vibrations generated during the milling process result from the mutual friction between the tool and the workpiece, which is directly reflected in the magnitude of the cutting forces, e.g. milling forces. Because the milling force is proportional to the cutting thickness and the comprehensive self-excited system mode of the machine tool, the existence of the milling force can cause unstable vibration of a machine tool system. If the chattering cannot be effectively reduced in the high-speed milling process, the roughness of the surface of the machined part is relatively large, meanwhile, the abrasion of a cutter is increased, and the dynamic load of a machine tool is increased.
In the traditional processing technology, a set of special fixture is required to be designed and manufactured for processing each composite material, the working hours for developing the special fixture occupy a longer development period, and the total efficiency of processing the composite material is influenced to a great extent. In addition, due to the characteristics of various specifications, complex shapes and the like, if the clamp used in the composite material processing is designed according to the design method of the traditional clamp, the problems of various types of clamps, poor adaptability, increased cost, high management difficulty and the like are caused.
Flexible manufacturing systems have been used abroad as an effective means of developing new products and as a major development direction in the machine manufacturing industry. Flexible fixtures have emerged in the trend toward Flexible Manufacturing Systems (FMS) and Computer Integrated Manufacturing Systems (CIMS), which are important components of flexible manufacturing systems.
In recent years, domestic scholars conduct a great deal of research on reconfigurable flexible tooling, overcome some technologies related to reconfigurable flexible tooling systems, and obtain certain research results, but since the research on the technology is carried out later in China, the research is mainly focused on the development and test stages of the tooling at present, and a certain gap exists between the development and test stages and the application of the tooling in aircraft assembly production.
Therefore, the development of a reconfigurable and reusable digital control flexible clamp is an important way for improving the manufacturing efficiency of the weak-rigidity composite material and reducing the manufacturing cost of the weak-rigidity composite material. This patent is to the needs of weak rigidity combined material processing, has designed and developed one set of flexible clamping milling device of preventing trembleing, to improving work piece surface machining quality, slows down cutter wearing and tearing and has important meaning.
Disclosure of Invention
The invention provides a weak-rigidity composite material anti-vibration clamping flexible milling device and a milling method, which can improve the surface processing quality of a workpiece and reduce the abrasion of a cutter.
In order to achieve the aim, the invention provides a weak-rigidity flexible milling device for vibration-proof clamping of a composite material, which comprises a base, a multi-freedom-degree milling spindle, an XY-direction moving unit, a vacuum chuck, a vibration-proof clamping unit, a vision camera, a vision alignment system, a laser profile sensor and a control system, wherein the base is provided with a plurality of groups of parallel milling spindle units; the base comprises a bottom plate, a top plate, a back plate and a side plate, wherein the back plate and the side plate are connected with the bottom plate and the top plate; the multi-degree-of-freedom edge milling spindle penetrates through the first window; the XY-direction moving unit is arranged in the base and connected with the multi-degree-of-freedom edge milling spindle to drive the multi-degree-of-freedom edge milling spindle to move in the X direction and the Y direction in the base; the vacuum chuck is arranged on the bottom plate of the base and is positioned below the XY-direction moving unit; the anti-vibration clamping unit comprises a clamp, a clamp shaft, an angular contact ball bearing, a bearing seat, a damper, an air spring and a workpiece Y-direction moving unit; the clamp is positioned between the XY moving unit and the vacuum chuck; a clamp is fixed at the first end of the clamp shaft, and the second end of the clamp shaft is fixedly connected with the inner ring of the angular contact ball bearing; the outer ring of the angular contact ball bearing is fixed in the bearing seat; the damper is arranged between the second end of the clamp shaft and the bearing seat; the air spring is arranged around the damper, and two ends of the air spring are respectively connected with the damper and the bearing seat; the workpiece Y-direction moving unit is connected with the bearing block and used for driving the workpiece to move along the Y direction; the vision camera is arranged on the base and connected with the vision alignment system; the laser profile sensor is arranged on the base and used for measuring the distance between the laser profile sensor and a workpiece and scanning the profile of an area to be milled; the control system is connected with the multi-degree-of-freedom edge milling main shaft, the XY-direction moving unit, the workpiece Y-direction moving unit, the vision camera, the vision alignment system and the laser profile sensor.
Further, a dust suction unit is arranged on the base.
Further, the XY-direction moving unit comprises an installation platform, an X-direction motor, an X-direction lead screw installation seat, an X-direction lead screw, an X-direction sliding table, a Y-direction motor, a Y-direction lead screw installation seat, a Y-direction lead screw and a Y-direction sliding table; the mounting platform is connected with the back plate and the side plate of the base and is provided with a second window, and an X-direction limiting table and an X-direction lead screw mounting seat are arranged on two sides of the second window along the Y direction; the X-direction screw rod is rotatably arranged on the X-direction screw rod mounting seat and is connected with the X-direction motor; the X-direction sliding table is threaded on the X-direction screw rod and is in sliding fit with the X-direction limiting table, a third window is arranged on the X-direction sliding table, and a Y-direction limiting table and a Y-direction screw rod mounting seat are arranged on two sides of the third window along the X direction; the Y-direction screw rod is rotatably arranged on the Y-direction screw rod mounting seat and is connected with the Y-direction motor; the Y-direction sliding table is threaded on the Y-direction screw rod and is in sliding fit with the Y-direction limiting table, and the Y-direction sliding table is provided with a fourth window; the multi-degree-of-freedom edge milling spindle sequentially penetrates through the first window, the fourth window, the third window and the second window and is fixedly connected with the Y-direction sliding table.
Further, the workpiece Y-direction moving unit comprises a workpiece Y-direction motor, a workpiece Y-direction lead screw mounting seat and a workpiece Y-direction lead screw; the workpiece Y-direction motor is fixed on the bottom plate of the base; the workpiece Y-direction lead screw mounting seat is slidably mounted on a bottom plate of the base; the workpiece Y-direction screw rod is rotatably arranged on the workpiece Y-direction screw rod mounting seat and is connected with a workpiece Y-direction motor; the bearing block is fixed on the Y-direction lead screw mounting seat of the workpiece.
Further, two sets of anti-chatter clamping units are disposed on both sides of the vacuum chuck in the X-direction.
The invention also provides a milling method implemented by adopting the weak-rigidity composite material anti-vibration clamping flexible milling device, which comprises the following steps of:
s1, placing the workpiece on a vacuum chuck, and clamping and fixing the workpiece by adopting a clamp;
s2, finding a positioning hole or a positioning nail on the workpiece by using the photographing and recording functions of the vision alignment system, determining the actual coordinate position, feeding the measurement data back to the control system, and controlling the workpiece to move towards the moving unit in the Y direction by the control system so that the positioning hole or the positioning nail is positioned in the middle of the visual field of the vision camera;
s3, after the position of the positioning hole or the positioning nail is determined, the laser profile sensor measures the distance between the laser profile sensor and the workpiece, the measured data is fed back to the control system to generate coordinate compensation quantity, the anti-vibration clamping unit is used for adjusting the pose of the workpiece until the axis of the multi-freedom-degree milling spindle is parallel to the axis of the positioning hole or the positioning nail, and the data of the vision system and the laser profile sensor at the moment are recorded as a first group of data;
s4, repeating the steps S2-S3, recording a plurality of groups of data, comparing the recorded data with a three-dimensional model in the control system by the control system, and establishing the actual position relation of the workpiece and the base coordinate system;
s5, scanning the contour of the area to be milled of the workpiece by the laser contour sensor, obtaining the edge curve data of the actual contour by the control system, comparing the data with the theoretical three-dimensional model of the workpiece, and determining the cutting amount in the milling process;
s6, after the initial positioning by the laser profile sensor, the control system switches to the vision camera, measures the positioning marks of the workpiece in different positions, obtains the accurate position information of the workpiece, and constructs the final processing coordinate system;
s7, automatically generating available numerical control codes of the control system by the control system according to the profile curve and the cutting amount of the area to be milled;
and S8, the control system executes the numerical control code to mill the edge.
The invention has the following beneficial effects:
1. the vacuum chuck can support processing areas of the composite material with different curvatures and weak rigidity, so that the rigidity of the composite material is enhanced, the deformation of a workpiece in the edge milling process is reduced, and the edge milling precision is improved;
2. the anti-vibration clamping unit adopts the angular contact ball bearing for axial and radial positioning, so that axial and radial play cannot occur in the work, the edge milling precision and efficiency can be improved, and the requirement of the edge milling precision can be better met;
3. the shockproof clamping unit is provided with the damper and the air spring in the bearing seat, can effectively fix the clamp shaft, can move along with the shape according to the appearance of the clamp shaft and has an automatic resetting function;
4. the anti-vibration clamping unit has two degrees of freedom which are respectively rotation along the circumferential direction of the clamp shaft and Y-direction movement, so that the anti-vibration clamping unit can better adapt to the harsh requirements of various working conditions on the clamping unit in the edge milling process;
5. the laser profile sensor accurately measures the distance from the laser profile sensor to the surface of the weak-rigidity composite material, then transmits data to the closed-loop control system, and adjusts the posture of the edge milling equipment, so that the axis of the milling cutter is parallel to the normal of the weak-rigidity composite material, and the situation that notches are inclined in the edge milling process is guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a weak-rigidity composite material anti-vibration clamping flexible milling device;
FIG. 2 is a schematic view of the anti-shudder clamping unit;
FIG. 3 is a schematic view showing the structure of an XY-direction moving unit;
fig. 4 is a schematic structural view of the Y-direction moving unit.
Wherein, the names corresponding to the reference numbers are:
1-a base; 2-multi-degree-of-freedom edge milling main shaft; 3-vacuum chuck; 4-a visual camera; 5-laser profile sensor; 6.1-clamp; 6.2-clamp shaft; 6.3-angular contact ball bearings; 6.4-bearing seat; 6.5-a damper; 6.6-air spring; 6.7-Y-direction motor of the work piece; 6.8-workpiece Y-direction lead screw mounting seat; 6.9-Y-direction lead screw of workpiece; 7-a dust suction unit; 8.1-mounting a platform; 8.2-X direction motor; 8.3-X direction lead screw mounting seat; 8.4-X direction lead screw; 8.5-X directional slipway; 8.6-Y motor; 8.7-Y direction lead screw mounting seat; 8.8-Y direction lead screw; 8.9-Y directional slipway; 8.10-X direction limit table; 8.11-Y direction limit table; 9-coupler.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The embodiment provides a weak-rigidity flexible milling device for anti-vibration clamping of a composite material, which comprises a base 1, a multi-freedom-degree edge milling spindle 2, an XY-direction moving unit, a vacuum chuck 3, an anti-vibration clamping unit, a vision camera 4, a vision alignment system, a laser profile sensor 5 and a control system, wherein the anti-vibration clamping unit is arranged on the base; the base 1 comprises a bottom plate, a top plate, a back plate and side plates, wherein the back plate and the side plates are connected with the bottom plate and the top plate; the multi-degree-of-freedom edge milling spindle 2 penetrates through the first window; the XY-direction moving unit is arranged in the base 1 and connected with the multi-degree-of-freedom edge milling spindle 2 to drive the multi-degree-of-freedom edge milling spindle 2 to move in the X direction and the Y direction in the base 1; the vacuum chuck 3 is arranged on the bottom plate of the base 1 and is positioned below the XY-direction moving unit; the anti-vibration clamping unit comprises a clamp 6.1, a clamp shaft 6.2, an angular contact ball bearing 6.3, a bearing seat 6.4, a damper 6.5, an air spring 6.6 and a workpiece Y-direction moving unit; the clamp 6.1 is positioned between the XY moving unit and the vacuum chuck 3; a first end of the clamp shaft 6.2 is fixedly provided with a clamp 6.1, and a second end is fixedly connected with an inner ring of the angular contact ball bearing 6.3; the outer ring of the angular contact ball bearing 6.3 is fixed in the bearing seat 6.4; the damper 6.5 is arranged between the second end of the clamp shaft 6.2 and the bearing seat 6.4; the air spring 6.6 is arranged around the damper 6.5, and two ends of the air spring are respectively connected with the damper 6.5 and the bearing seat 6.4; the workpiece Y-direction moving unit is connected with the bearing block 6.4 and used for driving the workpiece to move along the Y direction; the vision camera 4 is arranged on the base 1 and is connected with the vision alignment system; the laser profile sensor 5 is arranged on the base 1, is positioned above the vacuum chuck 3 and is used for measuring the distance between the laser profile sensor and a workpiece and scanning the profile of an area to be milled; the control system is connected with the multi-degree-of-freedom edge milling main shaft 2, the XY-direction moving unit, the workpiece Y-direction moving unit, the vision camera 4, the vision alignment system and the laser profile sensor 5.
Further, a dust suction unit 7 is provided on the base 1.
Further, the XY-direction moving unit comprises an installation platform 8.1, an X-direction motor 8.2, an X-direction lead screw installation seat 8.3, an X-direction lead screw 8.4, an X-direction sliding table 8.5, a Y-direction motor 8.6, a Y-direction lead screw installation seat 8.7, a Y-direction lead screw 8.8 and a Y-direction sliding table 8.9; the mounting platform 8.1 is connected with the back plate and the side plate of the base 1, a second window is arranged, and an X-direction limiting table 8.10 and an X-direction lead screw mounting seat 8.3 are arranged on two sides of the second window along the Y direction; the X-direction lead screw 8.4 is rotatably arranged on the X-direction lead screw mounting seat 8.3 and is connected with the X-direction motor 8.2; the X-direction sliding table 8.5 is threaded on the X-direction lead screw 8.4 and is in sliding fit with the X-direction limiting table 8.10, a third window is arranged on the X-direction sliding table 8.5, and a Y-direction limiting table 8.11 and a Y-direction lead screw mounting seat 8.7 are arranged on two sides of the third window along the X direction; a Y-direction lead screw 8.8 is rotatably arranged on a Y-direction lead screw mounting seat 8.7 and is connected with a Y-direction motor 8.6; the Y-direction sliding table 8.9 is threaded on the Y-direction screw rod 8.8 and is in sliding fit with the Y-direction limiting table 8.11, and the Y-direction sliding table 8.9 is provided with a fourth window; the multi-degree-of-freedom edge milling spindle 2 sequentially penetrates through the first window, the fourth window, the third window and the second window and is fixedly connected with the Y-direction sliding table 8.9. The X-direction motor 8.2 is started to drive the X-direction lead screw 8.4 to rotate, the X-direction sliding table 8.5 and the Y-direction motor 8.6, the Y-direction lead screw mounting seat 8.7, the Y-direction lead screw 8.8 and the Y-direction sliding table 8.9 on the X-direction sliding table move along the X direction, the Y-direction motor 8.6 is started to drive the Y-direction lead screw 8.8 to rotate, the Y-direction sliding table 8.9 and the multi-freedom-degree edge milling spindle 2 on the Y-direction sliding table move along the Y direction, and the XY-direction movement of the multi-freedom-degree. The first window, the fourth window, the third window and the second window are square windows.
Further, the workpiece Y-direction moving unit comprises a workpiece Y-direction motor 6.7, a workpiece Y-direction lead screw mounting seat 6.8 and a workpiece Y-direction lead screw 6.9; a workpiece Y-direction motor 6.7 is fixed on the bottom plate of the base 1; a workpiece Y-direction lead screw mounting seat 6.8 is slidably mounted on a bottom plate of the base 1; a workpiece Y-direction lead screw 6.9 is rotatably arranged on a workpiece Y-direction lead screw mounting seat 6.8 and is connected with a workpiece Y-direction motor 6.7; and the bearing block 6.4 is fixed on a Y-direction lead screw mounting seat 6.8 of the workpiece. The Y-direction motor 6.7 of the workpiece is started, the Y-direction lead screw 6.9 of the workpiece rotates, and the Y-direction lead screw mounting seat 6.8 of the workpiece and the bearing seat 6.4 on the Y-direction lead screw mounting seat move, so that the Y-direction movement of the workpiece is realized.
Further, two sets of anti-rattle clamping units are provided on both sides of the vacuum chuck 3 in the X direction.
Further, the clamp shafts 6.2 are connected by a multi-section shaft through a coupling 9.
Further, the motor and the lead screw are connected through a coupling 9.
In this embodiment, the vision alignment system and the control system are both existing systems.
Example 2
The embodiment provides a milling method implemented by adopting the weak-rigidity composite material anti-vibration clamping flexible milling device, which comprises the following steps of:
s1, placing the workpiece on the vacuum chuck 3, and clamping and fixing the workpiece by adopting a clamp 6.1;
s2, finding a positioning hole or a positioning nail on the workpiece by using the photographing and recording functions of the vision alignment system, determining the actual coordinate position, feeding the measurement data back to the control system, and controlling the workpiece to move towards the moving unit in the Y direction by the control system so that the positioning hole or the positioning nail is positioned in the middle of the visual field of the vision camera 4;
s3, after the position of the positioning hole or the positioning nail is determined, the laser contour sensor 5 measures the distance between the laser contour sensor and the workpiece, the measured data is fed back to the control system to generate coordinate compensation quantity, the anti-vibration clamping unit is used for adjusting the pose of the workpiece until the axis of the multi-freedom-degree milling spindle 2 is parallel to the axis of the positioning hole or the positioning nail, and the control system records the data of the vision system and the laser contour sensor 5 at the moment as a first group of data;
s4, repeating the steps S2-S3, recording a plurality of groups of data, comparing the recorded data with a three-dimensional model in the control system by the control system, and establishing the actual position relation of the workpiece and the base coordinate system;
s5, scanning the contour of the area to be milled of the workpiece by the laser contour sensor 5, obtaining the edge curve data of the actual contour by the control system, comparing the data with the theoretical three-dimensional model of the workpiece, and determining the cutting amount in the milling process;
s6, after the initial positioning by the laser profile sensor 5, the control system is switched to the vision camera 4 to measure the positioning marks of the workpiece in different positions, so as to obtain the accurate position information of the workpiece and construct the final processing coordinate system;
s7, automatically generating available numerical control codes of the control system by the control system according to the profile curve and the cutting amount of the area to be milled;
s8, opening the dust collection unit 7, and executing numerical control codes by the control system to mill edges;
and S9, repeating the steps S4-S8 to realize the next section edge milling task.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A weak-rigidity flexible milling device for vibration-proof clamping of a composite material is characterized by comprising a base, a multi-degree-of-freedom milling edge main shaft, an XY-direction moving unit, a vacuum chuck, a vibration-proof clamping unit, a vision camera, a vision alignment system, a laser profile sensor and a control system;
the base comprises a bottom plate, a top plate, a back plate and side plates, wherein the back plate and the side plates are connected with the bottom plate and the top plate;
the multi-degree-of-freedom edge milling spindle penetrates through the first window;
the XY-direction moving unit is arranged in the base and connected with the multi-degree-of-freedom edge milling spindle to drive the multi-degree-of-freedom edge milling spindle to move in the X direction and the Y direction in the base;
the vacuum chuck is arranged on the bottom plate of the base and is positioned below the XY-direction moving unit;
the anti-vibration clamping unit comprises a clamp, a clamp shaft, an angular contact ball bearing, a bearing seat, a damper, an air spring and a workpiece Y-direction moving unit;
the clamp is positioned between the XY moving unit and the vacuum chuck;
a clamp is fixed at the first end of the clamp shaft, and the second end of the clamp shaft is fixedly connected with the inner ring of the angular contact ball bearing;
the outer ring of the angular contact ball bearing is fixed in the bearing seat;
the damper is arranged between the second end of the clamp shaft and the bearing seat;
the air spring is arranged around the damper, and two ends of the air spring are respectively connected with the damper and the bearing seat;
the workpiece Y-direction moving unit is connected with the bearing seat and used for driving the workpiece to move along the Y direction;
the vision camera is arranged on the base and is connected with the vision alignment system;
the laser profile sensor is arranged on the base and used for measuring the distance between the laser profile sensor and a workpiece and scanning the profile of an area to be milled;
the control system is connected with the multi-degree-of-freedom edge milling main shaft, the XY-direction moving unit, the workpiece Y-direction moving unit, the vision camera, the vision alignment system and the laser profile sensor.
2. The weak stiffness composite anti-chatter clamp flexible milling apparatus according to claim 1, wherein a dust suction unit is provided on the base.
3. The weak-rigidity composite material anti-chatter clamping flexible milling device according to claim 2, wherein the XY-direction moving unit comprises a mounting platform, an X-direction motor, an X-direction lead screw mounting seat, an X-direction lead screw, an X-direction sliding table, a Y-direction motor, a Y-direction lead screw mounting seat, a Y-direction lead screw and a Y-direction sliding table;
the mounting platform is connected with the back plate and the side plate of the base and is provided with a second window, and an X-direction limiting table and an X-direction lead screw mounting seat are arranged on two sides of the second window along the Y direction;
the X-direction lead screw is rotatably arranged on the X-direction lead screw mounting seat and is connected with the X-direction motor;
the X-direction sliding table is threaded on the X-direction lead screw and is in sliding fit with the X-direction limiting table, a third window is arranged on the X-direction sliding table, and a Y-direction limiting table and a Y-direction lead screw mounting seat are arranged on two sides of the third window along the X direction;
the Y-direction screw rod is rotatably arranged on the Y-direction screw rod mounting seat and is connected with the Y-direction motor;
the Y-direction sliding table is threaded on the Y-direction screw rod and is in sliding fit with the Y-direction limiting table, and the Y-direction sliding table is provided with a fourth window;
the multi-degree-of-freedom edge milling spindle sequentially penetrates through the first window, the fourth window, the third window and the second window and is fixedly connected with the Y-direction sliding table.
4. The weak-rigidity composite material anti-chatter clamping flexible milling device as claimed in claim 3, wherein the workpiece Y-direction moving unit comprises a workpiece Y-direction motor, a workpiece Y-direction lead screw mounting seat and a workpiece Y-direction lead screw;
the workpiece Y-direction motor is fixed on a bottom plate of the base;
the workpiece Y-direction lead screw mounting seat is slidably mounted on a bottom plate of the base;
the workpiece Y-direction screw rod is rotatably arranged on the workpiece Y-direction screw rod mounting seat and is connected with a workpiece Y-direction motor;
the bearing block is fixed on the Y-direction lead screw mounting seat of the workpiece.
5. The weak stiffness composite anti-chatter clamping flexible milling device as claimed in claim 4, wherein two sets of anti-chatter clamping units are disposed on both sides of the vacuum chuck along the X-direction.
6. A milling method, which is characterized in that the milling method is implemented by using the weak-rigidity composite material shockproof clamping flexible milling device of claims 1-5, and comprises the following steps:
s1, placing the workpiece on a vacuum chuck, and clamping and fixing the workpiece by adopting a clamp;
s2, finding a positioning hole or a positioning nail on the workpiece by using the photographing and recording functions of the vision alignment system, determining the actual coordinate position, feeding the measurement data back to the control system, and controlling the workpiece to move towards the moving unit in the Y direction by the control system so that the positioning hole or the positioning nail is positioned in the middle of the visual field of the vision camera;
s3, after the position of the positioning hole or the positioning nail is determined, the laser profile sensor measures the distance between the laser profile sensor and the workpiece, the measured data is fed back to the control system to generate coordinate compensation quantity, the anti-vibration clamping unit is used for adjusting the pose of the workpiece until the axis of the multi-freedom-degree milling spindle is parallel to the axis of the positioning hole or the positioning nail, and the data of the vision system and the laser profile sensor at the moment are recorded as a first group of data;
s4, repeating the steps S2-S3, recording a plurality of groups of data, comparing the recorded data with a three-dimensional model in the control system by the control system, and establishing the actual position relation of the workpiece and the base coordinate system;
s5, scanning the contour of the area to be milled of the workpiece by the laser contour sensor, obtaining the edge curve data of the actual contour by the control system, comparing the data with the theoretical three-dimensional model of the workpiece, and determining the cutting amount in the milling process;
s6, after the initial positioning by the laser profile sensor, the control system switches to the vision camera, measures the positioning marks of the workpiece in different positions, obtains the accurate position information of the workpiece, and constructs the final processing coordinate system;
s7, automatically generating available numerical control codes of the control system by the control system according to the profile curve and the cutting amount of the area to be milled;
and S8, the control system executes the numerical control code to mill the edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011217414.1A CN112453520A (en) | 2020-11-04 | 2020-11-04 | Shake-prevention clamping flexible milling device and method for weak-rigidity composite material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011217414.1A CN112453520A (en) | 2020-11-04 | 2020-11-04 | Shake-prevention clamping flexible milling device and method for weak-rigidity composite material |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114619081A (en) * | 2021-11-23 | 2022-06-14 | 三门三友科技股份有限公司 | Method capable of accurately guiding milling of copper particles and high-precision equipment |
| CN118081446A (en) * | 2024-04-23 | 2024-05-28 | 冈田智能(江苏)股份有限公司 | Multi-tool magazine tool taking device and method suitable for different tool changing planes |
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| US20050260051A1 (en) * | 2004-02-10 | 2005-11-24 | Jean-Christophe Hamann | Process and device for machining by windowing of non-deformable thin panels |
| CN101642880A (en) * | 2009-08-24 | 2010-02-10 | 哈尔滨工业大学 | Vacuum adsorption clamping device used for clamping thin-walled planar workpiece |
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| CN114619081B (en) * | 2021-11-23 | 2024-03-22 | 三门三友科技股份有限公司 | Method capable of guiding milled copper particles accurately and high-precision equipment |
| CN118081446A (en) * | 2024-04-23 | 2024-05-28 | 冈田智能(江苏)股份有限公司 | Multi-tool magazine tool taking device and method suitable for different tool changing planes |
| CN118081446B (en) * | 2024-04-23 | 2024-06-28 | 冈田智能(江苏)股份有限公司 | Multi-tool magazine tool taking device and method suitable for different tool changing planes |
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